The next installment of the pmap (laser-based mapping) package is now
This version adds two new libraries:
* A library for relaxation over local constraints (rmap). This library
uses an iterated closest point algorithm to refine topologically
correct maps; the output map is both topologically correct and locally
* A library for occupancy grid mapping (omap). This library converts a
set of laser ranges scans into an occupancy grid map.
There are also a number of optimizations and bug fixes; notably, the lodo
library now runs about ten times faster. The pmap_test utility has also
been extended with a relaxation phase; give it a Player log file and it
will output a nice, high-quality occupancy grid.
Andrew Howard email: ahoward@...
Department of Computer Science http: www-robotics.usc.edu/~ahoward
University of Southern California phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696
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